Gain Switching Based On The Control Mode - Omron R88D-KN series User Manual

7-9-2

Gain Switching Based on the Control Mode

The settable switching conditions vary depending on the control mode used. Set the objects for each
control mode.
Refer to Section 9 Servo Parameter Objects for details on gain-related objects.
Position Control Mode
In the Position Control mode, operation varies as follows according to Switching Mode in Position
Control (3115 hex).
For operation details, refer to 7-9-3 Diagrams of Gain Switching Setting on page 7-32.
3115
hex set
value
0 Always Gain 1 (3100 to 3104 hex).
1 Always Gain 2 (3105 to 3109 hex).
2 Gain switching command input via
EtherCAT communications
3 Force command
4 Always Gain 1 (3100 to 3104 hex).
5 Speed command
6 Pulse position error
7 Position command
8 Positioning not completed
9 Actual motor speed
10 Position command + Actual motor speed
*1 The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched
from 2 to 1.
*2 Set the level set in Gain Switching Level in Position Control (3117 hex) to greater than or equal to the
hysteresis set in Gain Switching Hysteresis in Position Control (3118 hex).
*3 If set to greater than the level set in Gain Switching Level in Position Control (3117 hex), the hysteresis set in
Gain Switching Hysteresis in Position Control (3118 hex) will be automatically adjusted to equal to the level set
in Gain Switching Level in Position Control (3117 hex).
 Gain switching command input via EtherCAT communications
The gain is switched instantly when a gain switching command is issued via EtherCAT
communications.
 Force command
The gain is switched via a force command.
 Speed command
The gain is switched via a speed command.
 Following error actual value
The gain is switched via the pulse position error in external encoder units.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Gain switching conditions
7 Applied Functions
Gain Switching Gain Switching
Delay Time in Level in Position
Position Control Control
*1
(3116 hex) (3117 hex)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled Enabled [%]
Disabled Disabled
Enabled Enabled [mm/s]
Enabled [external
Enabled
encoder pulses]
Enabled Disabled
Enabled Disabled
Enabled Enabled [mm/s]
Enabled Enabled [mm/s]
Gain Switching
Hysteresis in
Position Control
*2
*3
(3118 hex)
Disabled
Disabled
Disabled
Enabled [%]
Disabled
Enabled [mm/s]
Enabled [external
encoder pulses]
Disabled
Disabled
Enabled [mm/s]
Enabled [mm/s]
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